Micro XRCE-DDS Agents receive messages containing Operations from Clients. Agents keep track of the Clients and the Micro XRCE-DDS Entities they create. The Agent uses the Entities to interact with DDS Global Data Space on behalf of the Client.
The communication between a Micro XRCE-DDS Client and a Micro XRCE-DDS Agent supports three kind transport: UDP, TCP, or SerialPort. While running Micro XRCE-DDS Agent will attend any received request from your Micro XRCE-DDS Clients. Micro XRCE-DDS Agent answers back with the result of a request each time a request is attended.
The Agent supports being run by the user like this:
$ micro-xrce-dds-agent --help
In addition, the Agent supports running as a service that can be enabled with:
$ snap set micro-xrce-dds-agent daemon=true
If the service is enabled, by default it uses the
udp4 transport on
port 8888. The following parameters can be changed (these are
specific to the service, the
micro-xrce-dds-agent command simply
takes command-line arguments, but the capabilities are the same):
transport. Supported transports are
pseudoterminal. Default is
$ snap set micro-xrce-dds-agent transport="new transport"
middleware. Supported kinds of middleware are
dds. Default is
dds. Change with:
$ snap set micro-xrce-dds-agent middleware="new middleware"
verbosity. Supported verbosity levels are 0-6, defaulting to 4.
$ snap set micro-xrce-dds-agent verbosity="selected verbosity"
discovery. Enable or disable the discovery server. Defaults to
"false". Change with:
$ snap set micro-xrce-dds-agent discovery="true or false"
discovery-port. Port on which the discovery server (see above)
listens. Defaults to 7400. Change with:
$ snap set micro-xrce-dds-agent discovery-port="selected port"
p2p-port. Port to use for the P2P profile. Change with:
$ snap set micro-xrce-dds-agent p2p-port="selected port"
port. Port on which the agent listens. Only applicable to one of
the UDP or TCP transports (see above). Defaults to 8888. Change with:
$ snap set micro-xrce-dds-agent port="selected port"
baudrate. Baud rate to use when accessing serial ports. Only
applicable when using the
Defaults to 115200. Change with:
$ snap set micro-xrce-dds-agent baudrate="baud rate"
device. The serial device to use. Only applicable when using the
pseudoterminal transport. Change with:
$ snap set micro-xrce-dds-agent device="device path"
When using the snap with a serial device, some steps need to be taken in order to establish a successful connection:
Refresh your local installation of the snap
$ sudo snap refresh core --edge
Enable the hotplug feature and restart the
$ sudo snap set core experimental.hotplug=true $ sudo systemctl restart snapd
After plugging the microcontroller to the serial port, execute
snap interface serial-port command. You should see something
name: serial-port summary: allows accessing a specific serial port plugs: - micro-xrce-dds-agent slots: - snapd:cp2102cp2109uartbrid (allows accessing a specific serial port)
Connect your snap image to the desired serial port (replace accordingly):
$ snap connect micro-xrce-dds-agent:serial-port snapd:cp2102cp2109uartbrid
After this, you can execute your snap as usual,
micro-xrce-dds-agent serial -d <serial-dev>.
Generate an embeddable card to be shared on external websites.
Choose your Linux distribution to get detailed installation instructions. If yours is not shown, get more details on the installing snapd documentation.
Is there a problem with Micro XRCE-DDS Agent? Report this app
Thanks for bringing this to our attention. Information you provided will help us investigate further.
There was an error while sending your report. Please try again later.